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US8138960B2 - Map information update support device, map information update support method and computer readable recording medium - Google Patents

Map information update support device, map information update support method and computer readable recording medium Download PDF

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Publication number
US8138960B2
US8138960B2 US12/309,595 US30959507A US8138960B2 US 8138960 B2 US8138960 B2 US 8138960B2 US 30959507 A US30959507 A US 30959507A US 8138960 B2 US8138960 B2 US 8138960B2
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United States
Prior art keywords
area
map information
feature
observation target
observation
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US12/309,595
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US20090289837A1 (en
Inventor
Takashi Nonaka
Takashi Shibayama
Susumu Takagishi
Tadashi Sasakawa
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Pasco Corp
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Pasco Corp
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Assigned to PASCO CORPORATION reassignment PASCO CORPORATION RECORD TO CORRECT ASSIGNEE ADDRESS ON AN ASSIGNEMNT DOCUMENT, PREVIOUSLY RECORDED ON 01/23/2009, REEL 022198/FRAME 0243. Assignors: NONAKA, TAKASHI, SASAKAWA, TADASHI, SHIBAYAMA, TAKASHI, TAKAGISHI, SUSUMU
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/411—Identification of targets based on measurements of radar reflectivity
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3807—Creation or updating of map data characterised by the type of data
    • G01C21/3815—Road data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • G01S13/90—Radar or analogous systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques, e.g. synthetic aperture radar [SAR] techniques
    • G01S13/9021—SAR image post-processing techniques
    • G01S13/9027—Pattern recognition for feature extraction
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/254—Analysis of motion involving subtraction of images
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
    • G09B29/10—Map spot or coordinate position indicators; Map reading aids
    • G09B29/106—Map spot or coordinate position indicators; Map reading aids using electronic means
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10032—Satellite or aerial image; Remote sensing
    • G06T2207/10044—Radar image
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30181—Earth observation

Definitions

  • the present invention relates to a map information update support device, a map information update support method and a computer readable recording medium for supporting update of map information.
  • a map information update device which extracts edges of all features from optical images, compares extracted edges with edges of a previous map, and then updates a map, is disclosed in Japanese Patent Application Laid-Open No. 2005-234603.
  • optical images which are used in the conventional technique, can only be acquired in clear weather and thus the conventional technique has a problem in that it takes a long time to update the map information. Furthermore, it is difficult to extract all the features by extracting their edges. Besides, obtained map information has to be compared with the previous map in order to update the map, and the conventional technique has a problem in that the accompanying operation is complicated.
  • a map information update support device including: a characteristic value calculation part that calculates a predetermined characteristic value for each of items of time-series image data of an observation area that is a surrounding area including an observation target feature, the items of time-series image data being acquired by a radar device at different times, respectively; a feature changed area extraction part that extracts a feature changed area from the observation area based on the predetermined characteristic value; a target change candidate area extraction part that synthesizes the feature changed area with pre-stored map information of the observation area, and extracts a change candidate area of an observation target feature; and an output part that outputs the map information including the change candidate area of the observation target feature.
  • the characteristic value may be one of a scattering coefficient, an index indicating a correlation, and altitude information of the earth's surface.
  • the radar device may be a synthetic aperture radar.
  • the observation target feature may be a road.
  • a map information update support method including: calculating a predetermined characteristic value for each of items of time-series image data of an observation area that is a surrounding area including an observation target feature, the items of time-series image data being acquired by a radar device at different times, respectively; extracting a feature changed area from the observation area based on the predetermined characteristic value; synthesizing the feature changed area with pre-stored map information of the observation area, and extracting a change candidate area of an observation target feature; and outputting the map information including the change candidate area of the observation target feature.
  • a computer readable recording medium storing therein a program for causing a computer to perform a process for a map information update support, the process comprising: calculating a predetermined characteristic value for each of items of time-series image data of an observation area that is a surrounding area including an observation target feature, the items of time-series image data being acquired by a radar device at different times, respectively; extracting a feature changed area from the observation area based on the predetermined characteristic value; synthesizing the feature changed area with pre-stored map information of the observation area, and extracting a change candidate area of an observation target feature; and outputting the map information including the change candidate area of the observation target feature.
  • FIG. 1 is a diagram showing an example of a configuration of an extraction system for extracting road change candidate areas in an observation area using a map information update support device according to the present invention
  • FIG. 2 is a functional block diagram showing an example of a configuration of the map information update support device according to the present invention
  • FIG. 3 is a flowchart showing an example of operation performed by the map information update support device according to the present invention.
  • an exemplary embodiment of the present invention (referred to as “an embodiment” below) will be described hereinafter with reference to the drawings. The embodiment will be described below while taking an instance in which an observation target feature is assumed to be a road as an example.
  • FIG. 1 shows an example of a configuration of a system for extracting feature changed areas in an observation area.
  • a radar device such as a synthetic aperture radar incorporated in an artificial satellite 101 acquires radar image data of the observation area that is a surrounding area including observation target features on the surface of the earth and transmits the radar image data to a map information update support device 102 according to the present embodiment.
  • the map information update support device 102 processes the radar image data received via an antenna 103 to analyze changes in the surface of the earth in the observation area.
  • the radar image data is items of time-series image data acquired by the radar device at different times, respectively.
  • the map information update support device 102 can be realized by, for example, running a predetermined program on a computer.
  • the number of artificial satellites 101 is not limited to one, and plural artificial satellites of identical imaging specifications may be used. Further, the radar device may be incorporated in an aircraft instead of the artificial satellite 101 .
  • FIG. 2 is a functional block diagram of an example of a configuration of the map information update support device 102 according to the present embodiment.
  • the map information update support device 102 is configured to include a communication interface unit 10 , a radar image holding unit 12 , a registration processing unit 14 , a preprocessing unit 16 , a characteristic value calculation unit 18 , a road change candidate area extraction unit 20 and an output unit 22 .
  • the communication interface unit 10 which is realized by an appropriate communication interface, communicates with the artificial satellite 101 or the like and receives items of time-series image data acquired at different times, each of which including the radar image data, an imaging time and incidence angle data upon imaging.
  • the radar image holding unit 12 which is realized by a magnetic storage device and the like, holds the radar image data, the imaging times and the incidence angle data received by the communication interface unit 10 .
  • a greater number of radar images may be acquired to grasp changes in characteristic values in detail since the characteristic values change with season.
  • the number of images to be acquired can be decided based on land cover data stored in a map information database 24 to be described later.
  • the registration processing unit 14 retrieves plural items of radar image data of the same observation area acquired at different times, respectively from the radar image holding unit 12 and registrates the respective items of radar image data with respect to one another.
  • the registration process is performed since it is necessary for corresponding pixels of the respective items of radar image data to coincide with one another in a characteristic value calculation process to be described later.
  • This registration process can be performed using, for example, a ground control point (GCP). Building distortions may be compensated (orthorectification) at this time.
  • GCP ground control point
  • the preprocessing unit 16 performs filtering processing for removing noise included in the radar image data.
  • the preprocessing unit 16 may change a pixel size depending on land cover and a scale of the observation area (re-sampling process). Averaging processing or the like, for example, can be used as this filtering processing and the filtering processing may be realized by either hardware or software.
  • the characteristic value calculation unit 18 which is realized by a central processing unit (CPU) and an operation program, calculates characteristic values representing a state of the surface of the earth in the observation area.
  • the characteristic value is, for example, a scattering coefficient.
  • the characteristic value may be an index (such as coherence) showing correlation between plural items of radar image data of the same observation area respectively acquired at different times or altitude information of the surface of the earth or the like. If plural artificial satellites are used, the height information can be obtained with high accuracy through an interferometry process using the radar device incorporated in each of the satellites.
  • a feature changed area extraction unit 19 which is realized by the central processing unit (CPU) and the operation program, extracts changed areas in which a state of the surface of the earth changes with time as feature changed areas using the characteristic values calculated by the characteristic value calculation unit 18 . If the radar image data acquired by the radar device such as the synthetic aperture radar is used, changes in a road can be grasped from changes in scattering coefficient of, for example, features around the road. This is because scattered electromagnetic waves from a building contain not only a direct scattering component from the building but also plural reflection components between the building and the road. In the present embodiment, using such properties of the radar image data, road change candidate areas are extracted as features around the road changed areas.
  • the changed areas can be extracted by calculating a difference in scattering coefficient of plural items of radar image data of the same surface of the earth acquired at different times, and determining whether or not the difference is greater than a predetermined threshold value.
  • a target area may be extracted as a changed area based on an extraction condition as to whether or not the number of pixels existing in series, which respectively have differences greater than the predetermined threshold value, is equal to or more than a predetermined number, or whether or not an area represented by pixels, which respectively have difference greater than the predetermined threshold value, is equal to or larger than a predetermined area, for example.
  • the extraction condition may be appropriately set depending on a size (scale) of a map of the surface of the earth in the observation area, a width of each road, a state of the surface of the earth and the like.
  • the road change candidate extraction unit 20 which is realized by the CPU and the operation program, synthesizes extracted feature changed areas with map information of the observation area and extracts road change candidate areas.
  • the road change candidate extraction unit 20 narrows down the feature changed areas to areas of a high probability of road change based on, for example, knowledge obtained from the map information (such as whether or not the changed area is continuous with an existing road, whether or not the changed area is an extension of the existing road or whether or not the changed area is within a predetermined distance from the road), and then transmits information on the resultant areas to the output unit 22 .
  • the map information of the observation area is retrieved from the map information database 24 .
  • the output unit 22 outputs the map information, which is transmitted from the road change candidate area extraction unit 20 as a result of synthesizing with the road change candidate areas.
  • the output may be a printout, screen display or the like.
  • FIG. 3 shows a flow of an example of operation performed by the map information update support device 102 according to the present embodiment.
  • the communication interface unit 10 acquires plural items of radar image data of the same observation area acquired at different times and stores the radar image data in the radar image holding unit 12 (S 1 ).
  • the registration processing unit 14 retrieves the plural items of radar image data from the radar image holding unit 12 and registrates the items of radar image data with respect to one another (S 2 ).
  • the preprocessing unit 16 removes noise from the registrated radar image data.
  • the characteristic value calculation unit 18 calculates characteristic values representing the state of the surface of the earth in the observation area using the noise-removed radar image data (S 3 ).
  • the feature changed area extraction unit 19 extracts changed areas, in which the state of the surface of the earth in the observation area changes, as feature changed areas based on the characteristic values (S 4 ).
  • the road change candidate area extraction unit 20 synthesizes the extracted feature changed areas with the map information of the observation area retrieved from the map information database 24 (S 5 ) and extracts road change candidate areas (S 6 ).
  • the road change candidate area extraction unit 20 extracts, as the road change candidate areas, the areas of high probability of road change from the feature changed areas, based on the knowledge or the like obtained from the map information.
  • the output unit 22 outputs the synthesized map information output from the road change candidate area extraction unit 20 as screen display, printout or the like (S 7 ).
  • the road change candidate areas that are candidates of road change portions are shown in the map output as stated above. Therefore, the map can be updated by identifying changed portions based on optical images or field investigation only in the road change candidate areas. This can greatly reduce time and labor required for the map updating operation.
  • road change of a wide road can be extracted only by extracting candidate areas from radar images without using optical images or field investigation. In this case, the radar images may be subjected to an edge extraction process or the like.

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Computer Vision & Pattern Recognition (AREA)
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  • Artificial Intelligence (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Business, Economics & Management (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • Image Processing (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Processing Or Creating Images (AREA)
  • Instructional Devices (AREA)
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US12/309,595 2006-08-01 2007-07-31 Map information update support device, map information update support method and computer readable recording medium Expired - Fee Related US8138960B2 (en)

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JP2006-210168 2006-08-01
JP2006210168A JP5134792B2 (ja) 2006-08-01 2006-08-01 地図情報更新支援装置、地図情報更新支援方法及び地図情報更新支援プログラム
PCT/JP2007/064948 WO2008016034A1 (fr) 2006-08-01 2007-07-31 Dispositif et procédé de mise a jour d'informations de carte et support d'enregistrement lisible par ordinateur

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